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zhaojingkui
2025-08-12 11:00:27 +08:00
parent 71b44dc6b0
commit 516b0bc8a8
2 changed files with 10 additions and 8 deletions
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6
missions/auv150/alpha_shoreside.moos
View File

@@ -39,7 +39,7 @@ ProcessConfig = pShare
output = src_name=MOOS_MANUAL_OVERIDE, route=192.168.1.200:8082 output = src_name=MOOS_MANUAL_OVERIDE, route=192.168.1.200:8082
output = src_name=PZ, route=192.168.1.200:8082 output = src_name=PZ, route=192.168.1.200:8082
output = src_name=LED, route=192.168.1.200:8082 output = src_name=LED, route=192.168.1.200:8082
//output = src_name = *, route=192.168.1.200:8082 output = src_name = MOOS_MANUAL_OVERIDE*, route=192.168.1.200:8082
} }
//------------------------------------------ //------------------------------------------
@@ -95,8 +95,8 @@ ProcessConfig = pMarineViewer
BUTTON_Four = LED # LED=on BUTTON_Four = LED # LED=on
cmd = label=MANUAL_FALSE, var=MOOS_MANUAL_OVERIDE, sval=false, receivers=auv150 //cmd = label=MANUAL_FALSE, var=MOOS_MANUAL_OVERIDE, sval=false, receivers=auv150
cmd = label=MANUAL_TRUE, var=MOOS_MANUAL_OVERIDE, sval=true, receivers=auv150 //cmd = label=MANUAL_TRUE, var=MOOS_MANUAL_OVERIDE, sval=true, receivers=auv150
} }
//------------------------------------------ //------------------------------------------

12
src/pAUV150/AUV150.cpp
View File

@@ -177,7 +177,7 @@ bool AUV150::OnNewMail(MOOSMSG_LIST &NewMail)
bool mdbl = msg.IsDouble(); bool mdbl = msg.IsDouble();
bool mstr = msg.IsString(); bool mstr = msg.IsString();
#endif #endif
if((key == "MOOS_MANUAL_OVERIDE") || (key == "MOOS_MANUAL_OVERRIDE")) if((key == "MOOS_MANUAL_OVERIDE") || (key == "MOOS_MANUAL_OVERRIDE") || (key == "MOOS_MANUAL_OVERRID_AUV150"))
{ {
string sval = msg.GetString(); string sval = msg.GetString();
m_debug.push_back(m_overrived); m_debug.push_back(m_overrived);
@@ -327,6 +327,8 @@ void AUV150::registerVariables()
Register("DESIRED_DEPTH", 0); Register("DESIRED_DEPTH", 0);
Register("MOOS_MANUAL_OVERIDE", 0); Register("MOOS_MANUAL_OVERIDE", 0);
Register("MOOS_MANUAL_OVERRIDE", 0); Register("MOOS_MANUAL_OVERRIDE", 0);
Register("MOOS_MANUAL_OVERIDE*", 0);
Register("MOOS_MANUAL_OVERRIDE*", 0);
Register("PZ", 0); Register("PZ", 0);
Register("LED", 0); Register("LED", 0);
} }
@@ -590,15 +592,15 @@ bool AUV150::buildReport()
m_debug_str.clear(); m_debug_str.clear();
// =============== Navigation Info =============== // =============== Navigation Info ===============
printTable( printTable(
{"Connect", "Fre","Cont" ,"ip","OLat", "OLon","Gap"}, {"Connect", "Fre","Cont" ,"ip"},
{ {
(isConnected() ? "Yes" : "No"), (isConnected() ? "Yes" : "No"),
doubleToString(getRealReadFreq(), 4) + " Hz", doubleToString(getRealReadFreq(), 4) + " Hz",
ulintToString(getCounter()), ulintToString(getCounter()),
m_serverHost, m_serverHost,
doubleToString(m_OriginLatitude, 5) + "deg", // doubleToString(m_OriginLatitude, 5) + "deg",
doubleToString(m_OriginLongitude, 5) + "deg", // doubleToString(m_OriginLongitude, 5) + "deg",
doubleToString(m_controlGap, 5) + "s" // doubleToString(m_controlGap, 5) + "s"
} }
); );
m_msgs << "Fault Codes: "; m_msgs << "Fault Codes: ";